Research on path tracking control of mobile storage robot based on model predictive control and linear quadratic regulator

Abstract

To achieve that the mobile warehouse robot follows the given desired path quickly and smoothly, the MPC and LQR steering control algorithms are applied based on the lateral kinematic constraints of the vehicle. First, the Ackermann kinematic modelling of the mobile platform is performed. The nonlinear model is linearized and discretized to create a discrete state space model of the mobile robot. Under the same conditions, a lateral control system based on MPC and LQR is designed for the mobile robot. A performance comparison of parameters such as different vehicle speeds, straightline trajectory tracking, curve trajectory tracking and algorithm consumption time is performed. The simulation shows that the LQR and MPC controllers can calculate the vehicle's steering angle in real time according to the road curvature and drive according to the preset desired path.